version: 66.08
glider: 141
mission: 15
dive: 497
start: 4 25 111 22 35 50
data:
$ID,141
$MISSION,15
$DIVE,497
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42166.68
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,250411,204301,6704.072,-5648.662,0,3112.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.61
$_SM_ANGLEo,1.9
$GPS2,250411,204301,6704.072,-5648.662,0,3112.7,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,204.1,2042,-22.3,-10.000
$D_GRID,486
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.67,-92.5,0.0,0.0,0,25,0.00,0.00,-6.35,0.000,2,0.000,0.000,2883,3694,3115,0,0,0,0,0,0
$GC,27,-0.74,-146.0,7.6,-0.0,1,47,0.75,0.35,-15.18,0.000,4,0.114,0.171,2629,3899,3627,0,0,0,0,0,0
$GC,99,-0.71,-146.0,16.5,-16.5,13,106,0.00,2.20,0.00,0.000,6,0.000,0.041,2629,2473,3630,0,0,0,0,0,0
$GC,446,-0.64,-146.0,78.6,-17.5,74,453,0.00,2.17,0.00,0.000,4,0.000,0.054,2629,1084,3629,0,0,0,0,0,0
$GC,474,-0.59,-146.0,83.4,-17.8,78,482,0.17,2.22,0.00,0.000,6,0.217,0.055,2670,2484,3628,0,0,0,0,0,0
$GC,809,-0.64,-146.0,124.0,-11.8,120,813,0.00,2.30,0.00,0.000,4,0.000,0.072,2669,3906,3627,0,0,0,0,0,0
$GC,887,-0.73,-146.0,133.1,-10.5,126,894,0.15,2.17,0.00,0.000,6,0.122,0.042,2621,2491,3626,0,0,0,0,0,0
$GC,1212,-0.70,-146.0,184.1,-15.5,157,1216,0.00,2.17,0.00,0.000,4,0.000,0.055,2621,1087,3625,0,0,0,0,0,0
$GC,1224,-0.66,-146.0,186.1,-15.5,157,1232,0.12,2.25,0.00,0.000,6,0.249,0.057,2645,2496,3625,0,0,0,0,0,0
$GC,1549,-0.69,-146.0,228.2,-12.9,188,1554,0.00,2.25,0.00,0.000,4,0.000,0.070,2645,3898,3624,0,0,0,0,0,0
$GC,1579,-0.73,-146.0,232.0,-12.9,190,1583,0.00,2.15,0.00,0.000,6,0.000,0.041,2645,2490,3623,0,0,0,0,0,0
$GC,1905,-0.77,-146.0,270.2,-11.1,220,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2489,3624,0,0,0,0,0,0
$GC,2226,-0.80,-146.0,305.6,-11.5,250,2230,0.12,2.20,0.00,0.000,4,0.132,0.053,2606,1074,3624,0,0,0,0,0,0
$GC,2236,-0.83,-146.0,307.2,-11.8,250,2242,0.00,2.25,0.00,0.000,6,0.000,0.053,2606,2498,3624,0,0,0,0,0,0
$GC,2561,-0.78,-146.0,355.0,-14.7,281,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2498,3624,0,0,0,0,0,0
$GC,2881,-0.74,-146.0,402.8,-14.9,311,2885,0.00,2.28,0.00,0.000,4,0.000,0.068,2606,3904,3624,0,0,0,0,0,0
$GC,2933,-0.74,-146.0,410.9,-14.6,315,2937,0.00,2.15,0.00,0.000,6,0.000,0.039,2605,2490,3624,0,0,0,0,0,0
$GC,3264,-0.69,-146.0,459.7,-14.8,346,3266,0.15,0.00,0.00,0.000,6,0.230,0.000,2639,2490,3626,0,0,0,0,0,0
$STATE,3485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3485,begin apogee
$GC,3492,-0.12,0.0,487.1,11.5,367,3623,0.60,0.00,120.60,1.190,6,0.189,0.000,2810,2246,3030,0,0,0,0,0,0
$STATE,3624,end apogee,CONTROL_FINISHED_OK
$STATE,3624,begin climb
$GC,3626,0.74,146.0,491.4,0.0,379,3761,0.93,2.42,125.85,1.147,4,0.136,0.060,3104,895,2433,0,0,0,0,0,0
$GC,3823,0.71,146.0,471.8,14.4,396,3830,0.00,2.33,0.00,0.000,6,0.000,0.047,3103,2274,2428,0,0,0,0,0,0
$GC,4149,0.66,146.0,426.4,13.8,427,4153,0.00,2.30,0.00,0.000,4,0.000,0.063,3104,3692,2427,0,0,0,0,0,0
$GC,4320,0.56,146.0,399.5,15.8,442,4325,0.25,2.20,0.00,0.000,6,0.211,0.046,3051,2294,2426,0,0,0,0,0,0
$GC,4646,0.59,146.0,362.8,10.9,472,4650,0.00,2.28,0.00,0.000,4,0.000,0.060,3060,863,2425,0,0,0,0,0,0
$GC,4697,0.63,146.0,357.2,11.0,476,4701,0.00,2.20,0.00,0.000,6,0.000,0.047,3061,2279,2425,0,0,0,0,0,0
$GC,5025,0.67,146.0,319.2,11.6,506,5029,0.00,2.22,0.00,0.000,4,0.000,0.061,3060,3688,2425,0,0,0,0,0,0
$GC,5103,0.67,146.0,308.5,13.6,512,5110,0.00,2.22,0.00,0.000,6,0.000,0.044,3071,2263,2424,0,0,0,0,0,0
$GC,5429,0.69,146.0,270.1,11.8,543,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2263,2425,0,0,0,0,0,0
$GC,5746,0.69,146.0,231.9,12.3,573,5750,0.00,2.28,0.00,0.000,4,0.000,0.059,3071,3693,2425,0,0,0,0,0,0
$GC,5824,0.66,146.0,221.3,13.8,579,5831,0.00,2.22,0.00,0.000,6,0.000,0.044,3081,2263,2425,0,0,0,0,0,0
$GC,6149,0.66,146.0,182.4,11.6,610,6153,0.00,2.20,0.00,0.000,4,0.000,0.057,3092,863,2425,0,0,0,0,0,0
$GC,6189,0.66,146.0,177.8,12.0,613,6193,0.00,2.17,0.00,0.000,6,0.000,0.046,3092,2276,2425,0,0,0,0,0,0
$GC,6513,0.66,146.0,136.0,12.5,643,6517,0.00,2.22,0.00,0.000,4,0.000,0.060,3092,3683,2425,0,0,0,0,0,0
$GC,6686,0.61,146.0,112.5,13.7,658,6694,0.15,2.20,0.00,0.000,6,0.200,0.043,3065,2260,2425,0,0,0,0,0,0
$GC,7024,0.69,164.1,80.2,8.7,708,7044,0.00,2.35,15.23,0.882,4,0.000,0.059,3065,3689,2361,0,0,0,0,0,0
$GC,7108,0.73,164.1,71.9,10.7,722,7114,0.00,2.20,0.00,0.000,6,0.000,0.044,3074,2278,2360,0,0,0,0,0,0
$GC,7454,0.81,172.2,41.2,9.4,783,7468,0.15,2.28,7.78,0.811,4,0.094,0.057,3148,866,2327,0,0,0,0,0,0
$GC,7572,0.77,172.2,26.7,13.2,803,7580,0.15,2.22,0.00,0.000,6,0.209,0.047,3112,2282,2326,0,0,0,0,0,0
$FREEZE,8.82,-1.661,-1.838,2,32,0
$FREEZE,8.29,-1.660,-1.838,2,32,0
$FREEZE,7.70,-1.660,-1.837,2,32,0
$FREEZE,7.10,-1.661,-1.837,2,32,0
$FREEZE,6.62,-1.661,-1.836,2,32,0
$FREEZE,6.11,-1.661,-1.836,2,32,0
$FREEZE,5.46,-1.661,-1.835,2,32,0
$FREEZE,4.90,-1.661,-1.835,2,32,0
$FREEZE,4.42,-1.664,-1.835,2,32,0
$FREEZE,3.94,-1.665,-1.834,2,32,0
$FREEZE,3.36,-1.666,-1.834,2,32,0
$FREEZE,2.83,-1.665,-1.833,2,32,0
$STATE,7786,end climb,SURFACE_DEPTH_REACHED
$STATE,7786,begin surface coast
$FREEZE,2.34,-1.666,-1.833,2,32,0
$FREEZE,1.80,-1.667,-1.833,2,32,0
$FREEZE,1.75,-1.652,-1.831,2,32,0
$FREEZE,1.67,-1.677,-1.833,2,32,0
$FREEZE,1.75,-1.675,-1.833,2,32,0
$FINISH,1.8,1.026891
$STATE,7815,end surface coast,CONTROL_FINISHED_OK
$STATE,7815,begin surface
$SM_CCo,7833,169.00,0.064,0,0,751,559.04
$SM_GC,2.97,0.00,0.00,169.00,0.000,0.000,0.064,105,2506,751,-8.62,0.45,559.04
$RAFOS_CLK,422
$RAFOS,4,1303777985,0.566667,0.551389,65,60,54,54,53,52,205,121,140,86,224,167
$RAFOS,3,1303777506,0.433333,0.418333,88,68,57,54,54,52,964,191,209,140,114,153
$RAFOS,2,1303777023,0.300000,0.284167,61,58,57,56,53,49,117,217,201,146,177,685
$RAFOS,1,1303776545,0.166667,0.151389,71,59,58,57,56,56,200,152,191,210,113,226
$RAFOS,0,1303776068,0.033333,0.018889,60,60,56,55,52,49,148,191,201,164,123,179
$RAFOS_FIX,6704.072266,-5648.662109,250411,202001,3,113,0.26
$IRIDIUM_FIX,6636.54,-5647.69,220411,181815
$TT8_MAMPS,0.028462
$HUMID,44.36
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,22.3,64.889
$10V_AH,10.1,33.344
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.250,70.300,269.450,169.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,2046.118,4011.505,473.255,1380.969,154.082,0.000,1206.038,0.000,1374.667,2160.000,9.688,0.000
$DEVICE_MAMPS,249.390,171.360,1190.340,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.850,638.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150576
$DATA_FILE_SIZE,33399,847
$CAP_FILE_SIZE,93966,0
$CFSIZE,260165632,221827072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.2
$GPS,250411,204301,6704.072,-5648.662,181,99.0,181,-37.6